JP7384491B2 - How to prevent robot collision with charging stand - Google Patents

Description

The present invention relates to the field of control for preventing a robot from colliding with a charging stand, and specifically relates to a method of preventing a robot from colliding with a charging stand.

In the current market, robot vacuum cleaners generally have an automatic return charging function, and most charging stands use infrared signals to guide the robot to return and charge. In order to prevent the robot from colliding with the charging stand during the cleaning process, it generally avoids the charging stand by receiving signals sent from the charging stand, but most of the stand avoidance signals of the charging stand are infrared rays. signals, and infrared signals are affected by many factors, so if the robot approaches the charging stand from an oblique direction, there may be limitations due to the distance between the robot and the charging stand, or the infrared return charging guidance signal is too close. Due to the instability of distance and distance, it is often not possible to efficiently avoid the charging stand based on the infrared stand avoidance signal, and the robot will frequently collide with the charging stand, which will affect the robot's work efficiency.

In order to solve the above deficiency, the present technical solution utilizes the platform avoidance signals of different angles to predict the area where there is no charging station, thereby reducing the influence of the platform avoidance signal in the cleaning process of this area. You can avoid receiving it.

The technical solution of the present invention provides a method for preventing a robot from colliding with a charging stand, and the details are as follows.

This is a step in which the robot detects in real time the reception status of a platform avoidance signal within its reception signal coverage range while the robot is moving in the current work area, and the platform avoidance signal is from a charging stand dedicated to charging the robot. and step 2 of establishing a safety area within the current work area based on the platform avoidance signal received by the robot and the directional feature relationship of the predetermined work path of the robot. Based on the azimuth relationship between the platform avoidance signal received by the robot and the direction of the robot's current movement path, a dangerous area is established by marking a position that satisfies the collision prevention relationship with the robot's current position, and the robot A method for preventing a robot from colliding with a charging stand by avoiding the charging stand in the process of moving in a current work area. This technical solution sets an effective work area around the charging stand by establishing a dangerous area and a safe area, and the robot moving within the safe area can follow the pre-planned work path without being interfered with by the stand avoidance signal. The robot moves in a dangerous area outside of the safe area and efficiently avoids the charging stand in real time, overcoming the problem that the angle and strength of the signal received by the robot are unstable. , improve the robot's work efficiency.

Furthermore, if the robot detects that the platform avoidance signal is present directly in front of it before establishing the safety area, the robot's body radius from the robot's current position in the robot's current movement direction. Marking a first preset position separated by a distance as a hazard sign position, and simultaneously marking a second preset position adjacent to the first preset position in a direction passing through the first preset position and perpendicular to the current direction of movement of said robot. and a third preset position as the danger sign position, and a first preset position, a second preset position adjacent to the first preset position, and a third preset position are both marked between the current position of the robot. The robot is then controlled to stop moving forward, move backward a predetermined safe distance in the direction opposite to the current direction of movement, and then rotate on the spot to move along the historical path. and keep moving. The present technical solution improves the sign coverage rate of the dangerous area and reduces the risk of the robot colliding head-on with the charging stand.

Further, in step 2, the robot detects that the platform avoidance signal is present only on the left side of the robot's movement direction, and the predetermined work path extends to the right side of the robot's current movement path direction. If it is detected that the robot is on the right side of the boundary line, the line on which the robot's current movement path is located or the center line of the robot's body is determined as the boundary line. An area is set as the safe area. Compared with the prior art, the technical solution sets a safety area that does not include the charging stand based on the relationship between the left platform avoidance signal in the forward direction and the direction of the cleaning work path that the robot is currently planning. , the aim is for the robot to be unaffected by platform avoidance signals during the cleaning process of this area.

Further, in step 2, the robot detects that the platform avoidance signal exists only on the right side of the robot's movement direction, and the predetermined work path extends to the left side of the robot's current movement path direction. If it is detected that the robot is moving along the current moving path, the boundary line is determined to be the straight line on which the robot's current movement path is located or the center line of the robot's main body, and An area is set as the safe area. Compared with the prior art, the technical solution sets a safety area that does not include the charging stand based on the relationship between the right side platform avoidance signal in the forward direction and the direction of the cleaning work path currently planned by the robot. , the aim is for the robot to be unaffected by platform avoidance signals during the cleaning process of this area.

Based on the technical solution, if before setting the safety area, the robot detects that the platform avoidance signal exists only on the left side of its movement direction, then it moves to the left with respect to the current movement direction. In a direction of deflection at a predetermined angle, a position separated by the body diameter of the robot from the current position of the robot is selected and marked as the danger sign position, and the sign position and the current position of the robot are set in the collision prevention relationship. the robot is then controlled to stop moving forward, move backward a predetermined safe distance along the opposite direction of its current movement direction, and then rotate in place to move along the opposite direction of the predetermined work path. move it. The technical solution improves the sign coverage rate of the dangerous area on the left side based on the signal from the left side of the current moving direction of the robot and the included angle with the front, and reduces the risk of the robot colliding with the charging stand. reduce

Based on the technical solution, if before setting the safety area, the robot detects that the platform avoidance signal exists only on the right side of its movement direction, it will move to the right with respect to its current movement direction. In a direction of deflection at a predetermined angle, a position separated by the diameter of the body of the robot from the current position of the robot is selected and marked as the danger sign position, and the sign position and the current position of the robot are placed in the collision prevention relationship. the robot is then controlled to stop moving forward, move backward a predetermined safe distance along a direction opposite to the current direction of movement, and then rotate in place to move along a direction opposite to the predetermined work path. move it. The technical solution improves the sign coverage rate of the dangerous area on the right side based on the signal from the right side of the robot's current moving direction and the included angle with the direct front, and reduces the risk of the robot colliding with the charging stand. reduce

When establishing the safety area, an anti-collision sensitive area is added to the safety area, the length and width of which are both predetermined sensitive distances, starting from the current position of the robot and based on the working direction of the predetermined work path. establishing an area, the predetermined sensitive distance is less than or equal to the distance covered by the platform avoidance signal, and if the robot crosses the current anti-collision sensitive area along the predetermined work path, the currently established safe area; and delete the anti-collision sensitive area, then repeat the step 2 to establish the next safe area using the robot's real-time position as a starting point, and before establishing the next safe area, delete the robot's current position. The method further includes establishing a danger area by marking a danger sign position at a position that satisfies the collision prevention relationship.

Compared with the prior art, the present technical solution limits the area range of the safety area within the anti-collision sensitive area, the robot receives the platform avoidance signal, and furthermore, the robot is charged to move in real time. Even if the robot collides with the platform, it is necessary to continue working according to the predetermined work path, ensuring that the movement of the robot is not interfered with by the platform avoidance signal. Just by crossing the anti-collision sensitive area, the next safe area can be re-established by deleting the historical information of the currently established safe area, and the dangerous area is identified before establishing the safe area. It is necessary to more effectively avoid the risk of the robot colliding with the stand. It is not affected by the platform avoidance signal.

Furthermore, by mapping the danger sign positions on a grid map, and further connecting these sign positions to establish synchronization of the danger area on the grid map, the grid map surrounds the charging stand, and the grid map is configured so that the robot can It is established by marking the position information in real time in the process of moving in the current work area. In the process of the robot moving in the current work area, it first avoids these enclosed dangerous areas and reduces the risk of the machine colliding with the platform. Furthermore, when the robot enters a dangerous area, the possibility of reducing the work efficiency of the robot due to repeated entry and exit between the platform avoidance signal coverage range and the return charging guide signal coverage area is prevented.

Further, the predetermined angle is between 30 and 60 degrees. Based on the features in the assembly of the anti-collision sensor of the robot, the coverage level of the marking area of the dangerous area is improved.

Further, after initially establishing the dangerous area on the grid map, the robot moves to the non-safe area within the current work area and if it detects the platform avoidance signal, the robot continues to Determine whether the time has reached a predetermined response time, and if so, repeat step 2 to establish the next dangerous area; if not, do not respond to the currently detected platform avoidance signal. Establishing the danger area, the default response time is on the millisecond level. The accuracy of the sign is improved, and the positioning accuracy of the charging stand is improved.

Figure 1 shows a scene where the charging stand exists on the right side of the Y-axis in Example 1, and the robot establishes a safety area while moving along the currently planned "bow"-shaped path, and FIG. 3 is a schematic diagram of the process of marking the position of a danger sign on a direction. Figure 2 shows a scene where the charging stand is on the right side of the Y-axis in Example 2, and shows the process of establishing safe areas and dangerous areas while the robot moves along the currently planned “bow” path. It is a schematic diagram. Figure 3 shows a scene where there are charging stands on both the right and left sides of the Y-axis in Example 3, and a safe area is established in the process of the robot moving along the currently planned "bow-shaped" path. , and a schematic diagram of the process of marking the position of a danger sign on the current direction of movement. Figure 4 shows a scene in which the charging stand is present on both the right and left sides of the Y-axis in Example 4, and the robot is moving along the currently planned "bow-shaped" path into safe areas and dangerous areas. FIG. 2 is a schematic diagram of the process of establishing

The above solution will be further explained below with reference to specific examples. It is to be understood that the following examples are illustrative of the invention and are not intended to limit the scope of the invention. The operating conditions employed in the following examples can be further adjusted based on the manufacturer's specific conditions, and operating conditions not listed are generally those in routine experiments.

The subject of the present invention is a robot, and the robot is equipped with infrared receiving sensors in at least three different directions, and the infrared receiving sensors are used to receive an infrared collision prevention signal, which is a platform avoidance signal, transmitted by a charging platform. The infrared receiving sensors used and mounted in three different directions include a front sensor located directly in front of the front sensor and side sensors located on both sides of the front sensor, respectively, and the angle of the side sensor from the front sensor is 30 to 60. set at the same time. In addition, the robot provided by the present embodiment includes a robot vacuum cleaner that moves in a planned manner, and can clean along a preset direction.

Embodiments of the present invention achieve the effect of predicting an area where no charging stand is present according to platform avoidance signals of different angles, and preventing the robot from being influenced by platform avoidance signals in the cleaning process of this area. Provided is a method for preventing a robot from colliding with a charging stand, and in the method for preventing a robot from colliding with a charging stand, the robot receives a stand avoidance signal within its reception signal coverage range while the robot is moving in a current work area. Detect the reception status in real time, and here, based on the step 1 in which the platform avoidance signal is from a charging stand dedicated to charging the robot, the platform avoidance signal received by the robot, and the position characteristic relationship of the robot's predetermined work path, That is, a safe area is established within the current work area based on the angle at which the received platform avoidance signal deviates from the robot's current movement direction and the work direction in which the robot's pre-planned work path extends with respect to the initial point. Step 2, where, before establishing the safety area, the current position of the robot and a position that satisfies the anti-collision relationship are marked to establish the danger area, and in the process of the robot moving in the current work area; Avoid the charging station. The method provided by this embodiment sets an effective work area around the charging stand by establishing a dangerous area and a safe area, and allows the robot to move within the safe area without being interfered with by the stand avoidance signal as planned in advance. A robot that executes a work route and moves in a dangerous area outside a safe area can avoid the charging stand in real time and efficiently, and solve the problem that the angle and strength of the signal received by the robot are both unstable. overcome and improve the robot's work efficiency.

Note that after starting to call the program to avoid the charging stand, the robot vacuum cleaner determines whether or not the safe area has been established, and if the safe area has not been established, the robot vacuum cleaner moves to the safe area and the safe area according to step 2. When the dangerous area is established and the safety area is established, it is continued to determine whether the robot crosses the currently established safety area along the predetermined work path, and if the robot crosses the currently established safety area. A dangerous area is established by deleting the safe area, and then marking a danger sign position at a position that satisfies the robot's current position and the collision prevention relationship, and then establishing the next safe area. If the robot has not crossed the currently established safety area along the predetermined work path, the robot continues to move along the predetermined work path until it exceeds the currently established safety area, where: The robot does not mark the danger sign position when moving within the safe area. This embodiment maps the danger sign positions on a grid map, and further connects these sign positions to synchronize and establish the dangerous area on the grid map to surround the charging stand. Here, the grid map is established by marking position information in real time while the robot moves in the current work area.

In this embodiment, the area range and establishment time of the safety area are limited, and even if the robot receives the platform avoidance signal and collides with the charging platform that moves in real time, the robot can continue to work according to the predetermined work route. It is necessary to continue to perform the robot movement to ensure that the movement of the robot is not interfered with by the platform avoidance signal. This embodiment also limits the state of the establishment time of the dangerous area, that is, just by crossing the safe area, the next safe area can be re-established by deleting the history information of the currently established safe area. , it is necessary to identify the dangerous area before establishing the safe area, to more effectively avoid the risk of the robot colliding with the platform, and reduce the influence of the platform avoidance signal.

As Example 1, before establishing the safety area, the robot moves to position A0 along a pre-planned "bow"-shaped path extending in the positive direction of the X-axis, and at position A0, the robot moves directly in front of it. It has already been detected that there is a platform avoidance signal transmitted from the charging platform 1 at , and at this time, the transmission direction of the platform avoidance signal received by the robot is the same as the working direction of the robot on the predetermined work route. Therefore, the safe area cannot be established at position A0.

As shown in FIG. 1, the robot detects that the platform avoidance signal transmitted from the charging platform 1 is present directly in front of it at position A0, and the mark a first preset position A1 that is away from the robot's current position by the body radial distance of the robot in the direction as the danger sign position, which occupies one grid area on the grid map, and in which the collision prevention It can be considered as a position that satisfies the relationship. At the same time, in a direction perpendicular to the current movement direction of the robot (corresponding to the direction in which A0 points to A1 in FIG. 1), a second preset position and a third preset position adjacent to the first preset position are adjacent to position A1. The danger sign positions are marked as those corresponding to the two black grid areas. This can be considered as two grids adjacent to grid A1 on the grid map in the Y-axis direction. As a result, the first preset position and its adjacent second and third preset positions all have a positional distribution relationship with the current position of the robot, forming the collision prevention relationship. is used to restrict the robot from continuing the cleaning operation in the positive X-axis direction along the "bow" shaped path.

The robot then stops moving forward, retreats a predetermined safe distance along the opposite direction of its current movement direction (corresponding to the direction pointed by arrow P in Figure 1) to position A2, and then rotates in place to Point the sensor directly in front of you in the positive direction of the Y-axis. As shown in Figure 1, the robot starts from position A2 and continues the cleaning work along a pre-planned "bow" path, while simultaneously moving to the next safety area (with anti-collision sensing as shown in Figure 1). (including area 1), the establishment of the dangerous area is started by marking a danger sign position at the current position of the robot and a position that satisfies the collision prevention relationship. The marking embodiment of the danger sign position provided by this embodiment improves the sign coverage rate of the dangerous area and reduces the risk of the robot colliding head-on with the charging stand.

As shown in FIG. 1, when the robot moves to position A2, the robot detects that the platform avoidance signal exists only on the right side of its moving direction, and the predetermined work path is set to the current position of the robot. It is detected that the object extends to the left in the direction of the moving path. As shown in FIG. 1, the robot moves from position A2 along the positive direction of the Y-axis and cleans in a "bow" shape, that is, along the predetermined work path. Since the charging stand 1 is on the right side of position A2, the avoidance signal that the robot receives at position A2 is from the charging stand 1 on the right side of position A2 (in the positive direction of the X-axis). At the same time, this embodiment sets the currently planned "bow" path to extend in the direction indicated by the arrow P pointing to the left, thereby extending the area covered by the "bow" path to position A2. Position it on the left side (X-axis negative direction). Next, the straight line on which the current movement path of the robot is located or the center line of the robot's body is determined as the boundary line, that is, the straight line that passes through position A2 and is perpendicular to the X-axis is determined as the boundary line. The robot is recorded on the grid map, and an area on the left side of the boundary line is set and recorded as the safe area, so that the robot is not affected by the platform avoidance signal while moving in the safe area. In this embodiment, a safe area that does not include the charging stand is set based on the relationship between the platform avoidance signal on the right side of the initial forward direction and the direction of the cleaning work route currently planned by the robot, and the robot moves in this area. It is possible to avoid being influenced by the stand avoidance signal of the charging stand 1 during the cleaning process.

Theoretically, any area to the left of the boundary line is a safe area, and either the charging station has been moved or there is still a charging station in the more distant area to the left, which avoids the said station that it sent. Considering the possibility that the signal is not detected, it is necessary to establish an anti-collision sensitive area to limit the effective range of the safe area, and a rectangular anti-collision area whose length and width are both the predetermined sensitive distance. A range of a sensitive area may be set, and the range may be determined according to a range of a platform avoidance signal of the platform, where a predetermined sensitive distance is less than or equal to a distance covered by the platform avoidance signal. The present embodiment uses the current position of the robot as a starting point, establishes a collision prevention sensitive area whose length and width are both a predetermined sensitive distance based on the working direction on the predetermined work route, and sets the collision prevention sensitive area on the grid map. Record. As shown in FIG. 1, in this embodiment, a rectangular collision prevention sensitive area preferably having a length and a width of 2 m is set, and the coordinate unit is set to m. In the coordinate system corresponding to the grid map, it may be a local grid coordinate system or a global coordinate system after transformation, and the coordinates of the current position A2 of the robot are (x0+2, y0). , the length and width of the collision prevention sensitive area are both 2 m, and the working direction is the extension direction with respect to the starting point of one node at the boundary of the collision prevention sensitive area, and this embodiment is in the direction of arrow P in FIG. is the working direction, and therefore, the four boundary lines forming the anti-collision sensitive area 21 in Fig. 1 are (x0+2, y0+2), (x0, y0+2), A3 (x0+2, y0) and A2 (x0, Intersect at y0). The robot starts from position A2 (x0, y0) and performs the cleaning work along the "bow" shaped path shown in the figure, and does not process the platform avoidance signal received within the collision prevention sensitive area 21 , and does not proceed as shown in the figure. After moving to position A3 (x0, y0) according to the "bow"-shaped path shown, it moves beyond collision prevention sensitive area 21 to position A4 (x1, y1).

When the robot crosses the anti-collision sensitive area 21 along the “bow”-shaped path, the established anti-collision sensitive area 21 is deleted from the grid map, and at this time there are charging stations nearby. or the charging stand 1 cannot receive the stand avoidance signal transmitted by the charging stand 1, so the danger sign position is not marked. Next, with the robot's position A4 (x1, y1) as the starting point, the working direction is similarly set in the direction indicated by the arrow P in FIG. 1, and the collision prevention sensitive area 2 2 has a length and width of 2 m. , and plan the rectangular anti-collision sensitive area 2 2 in Figure 1, where the four boundaries of the anti-collision sensitive area 2 2 are (x1-2, y1+2), (x1, y1+2), respectively. (x1-2, y1) and intersect at A4 (x1, y1). The robot starts from the position A4 (x1, y1) and performs the cleaning work along the "bow" shaped path shown in the figure, and does not process the platform avoidance signal received within the collision prevention sensitive area 22 , and does not proceed as shown in the figure. After moving to (x1-2, y1) according to the "bow" shaped path shown, cross the anti-collision sensitive area 2 2 and simultaneously delete the established anti-collision sensitive area 2 2 from the grid map. . When the platform avoidance signal transmitted from the charging platform is received at position A4 (x1, y1 ), the robot's current position and A dangerous area is established by marking a danger sign position at a position that satisfies the collision prevention relationship.

As a second embodiment, on the basis of the danger sign position A1 determined in the first embodiment, as shown in FIG. detects the presence of the platform avoidance signal transmitted from the charging station A0, but does not exclude the platform avoidance signal transmitted from the charging station at other positions in the current work area, and the signal strength is is sufficient for the robot's right receiving sensor located at Next, from the current position A0 of the robot, the robot A position C1 that is separated by the body diameter of is selected and marked as the danger sign position, and the sign position C1 and the robot's current position A0 are made to match the collision prevention relationship, and the robot follows the "bow"-shaped path. This is used to restrict the cleaning operation from continuing along the X-axis positive direction. Improve sign coverage of dangerous areas and reduce the risk of the robot colliding with the charging stand.

Before establishing the safety area, the robot detects the presence of the platform avoidance signal transmitted from the charging platform 2 on the left side of its movement direction at position A0, but at other locations within the current work area. does not exclude the platform avoidance signal transmitted from the charging platform of the robot, and its signal strength is sufficient to be received by the left receiving sensor of the robot at position A0. Next, from the current position A0 of the robot, the robot A position B1 that is separated by the body diameter of is selected and marked as the danger sign position, and the sign position B1 and the robot's current position A0 are made to match the collision prevention relationship, and the robot follows the "bow"-shaped path. This is used to restrict the cleaning operation from continuing along the X-axis positive direction. Improve sign coverage of dangerous areas and reduce the risk of the robot colliding with the charging stand.

After independently marking the danger sign positions B1, A1, C1 and the two black grid areas adjacent to position A1 and mapping them one by one on the grid map, the arc-shaped broken line in the positive direction of the X-axis in FIG. As shown, these sign positions are connected to synchronize the dangerous area on the grid map to surround the charging station, thereby predicting the position of the charging station on the grid map. Here, the grid map is established by marking position information in real time while the robot moves in the current work area. In the process of the robot moving in the current work area, it first avoids these enclosed semi-enclosed dangerous areas, thereby reducing the risk of the machine colliding with the platform. Furthermore, when the robot enters a dangerous area, the robot may repeatedly move in and out between the platform avoidance signal coverage range and the return charging guidance signal coverage range, which may reduce the work efficiency of the robot. prevent.

The robot then stops moving forward and retreats a predetermined safe distance to position A2 along a direction opposite to the current direction of movement (corresponding to the direction pointed by arrow P in FIG. 2). As shown in FIG. 2, the robot starts from position A2 and continues the cleaning work along a pre-planned "bow" path, at which time the robot only moves to the right of the direction of its movement. Detecting the presence of an avoidance signal and detecting that the predetermined work path extends to the left of the direction of the robot's current movement path. As shown in FIG. 2, the charging stand is not placed in the negative direction of the X-axis in FIG. 2, and this example is similar to the characteristics of the coordinate environment shown in FIG. According to the method of Example 1, the safety area is established in the same location area, and based on the safety area, an anti-collision sensitive area 2 1 and an anti-collision sensitive area 2 2 are established in the same location area. In this embodiment, the area range of the safety area is limited to the collision prevention sensitive area, and even if the robot receives the platform avoidance signal and furthermore collides with the charging platform that moves in real time, It is necessary to continue working according to the predetermined work path, ensuring that the movement of the robot is not interfered with by the platform avoidance signal. Just by crossing the anti-collision sensitive area, the next safe area can be re-established by deleting the historical information of the currently established safe area, and the dangerous area is identified before establishing the safe area. It is necessary to more effectively avoid the risk of the robot colliding with the stand. It is not affected by the platform avoidance signal.

Embodiment 3: Embodiment 1 has already marked the danger sign position A1 and its adjacent danger sign positions at the position A0, and then the robot moves to the position A3 (x0+2, y0) and marks the anti-collision sensitive area 2. 1, the robot moves to position A5 according to the "bow"-shaped path shown in FIG. Detect. Before establishing the safety area, the robot moves to position A5 along a pre-planned "bow"-shaped path extending in the negative direction of the X-axis, and at position A5 directly in front of it, the robot It is detected that there is a platform avoidance signal to be transmitted, and at this time, since the transmission direction of the platform avoidance signal received by the robot is the same as the working direction of the robot on the predetermined work route, the robot is sent to position A5. Unable to establish safe area.

As shown in FIG. 3, in the x-axis negative direction of the coordinate system, which is the current moving direction of the robot, a first preset position A6 that is separated from the current position of the robot by the radial distance of the robot's body is set to the danger mark. It can be marked as a location and considered to occupy one grid area on the grid map. At the same time, in a direction perpendicular to the current movement direction of the robot (corresponding to the direction in which A5 points to A6 in FIG. 3), a second preset position and a third preset position adjacent to the first preset position A6 are set to the position A6. The two adjacent black grid areas are marked as the danger sign positions and can be regarded as two grids adjacent to grid A6 on the grid map in the Y-axis direction. As a result, the first preset position, the adjacent second preset position, and the third preset position all have a positional distribution relationship with the current position of the robot, forming the collision prevention relationship, and the robot It is used to restrict the cleaning operation from continuing in the negative direction of the X-axis along the path, thereby avoiding the robot from colliding with the charging stand 5. The robot then stops moving forward, retreats a predetermined safe distance along the direction opposite to the current direction of movement (corresponding to the direction pointed by arrow P1 in Figure 3) to position A3, and then rotates in place. With the sensor directly in front facing the positive Y-axis direction, the robot starts from position A3 and continues cleaning along the pre-planned "bow" path, as shown in FIG. The establishment of a safety area (including the anti-collision sensing area 3 shown in FIG. 3) also begins. Before establishing the new safe area, a dangerous area is established by marking a danger sign position at a position that satisfies the current position of the robot and the collision prevention relationship. The marking embodiment of the danger sign position provided by this embodiment improves the sign coverage rate of the dangerous area and reduces the risk of the robot colliding head-on with the charging stand.

As shown in FIG. 3, when the robot moves to position A3, the robot detects that the platform avoidance signal exists only on the left side of its moving direction, and the predetermined work path is set to the current position of the robot. As shown in FIG. 3, the robot moves from position A3 along the positive direction of the Y-axis in a "bow" shape. That is, cleaning is performed along the predetermined work route. Since the charging stand 5 is on the left side of position A3, the stand avoidance signal that the robot receives at position A3 is from the charging stand 5 on the left side of position A3 (in the negative direction of the X axis). At the same time, this embodiment sets the currently planned "bow" path to extend in the direction indicated by the arrow P pointing to the right, thereby extending the area covered by the "bow" path to position A3. The robot is located on the right side (positive direction of the X-axis), and the "bow"-shaped path currently planned by the robot is opposite in direction to the "bow"-shaped path planned in Example 1. Therefore, the “bow”-shaped cleaning cover area planned in this embodiment is the same as in the first embodiment.

Before the robot starts performing the "bow"-shaped cleaning, further determine the straight line in which the robot's current movement path is located or the center line of the robot's body as a boundary line, that is, pass through position A3, and A process of determining a straight line perpendicular to the X-axis as a boundary line, recording it on the grid map, further setting and recording an area to the right of the boundary line as the safe area, and causing the robot to move in the safe area. It is necessary to avoid being affected by the platform avoidance signal. In this embodiment, a safe area that does not include the charging stand is set by using the relationship between the stand avoidance signal on the left side of the initial forward direction and the direction of the cleaning work route currently planned by the robot. It is possible to avoid being influenced by the stand avoidance signal of the charging stand 5 during the cleaning process.

In theory, any area to the right of the boundary line is a safe area, and either the charging station has been moved or the charging station 1 (as shown in FIG. 3) is still present in the more distant area on the right; Considering the possibility that it has not detected the vehicle avoidance signal transmitted, it is necessary to establish an anti-collision sensitive area to limit the effective range of the safe area, and the length and width are both the default sensitive The range of the rectangular anti-collision sensitive area is set as the distance, and the range can be determined according to the range of the platform avoidance signal of the platform, where the default sensitive distance is less than or equal to the distance covered by the platform avoidance signal. It is. The present embodiment uses the current position of the robot as a starting point, establishes a collision prevention sensitive area whose length and width are both a predetermined sensitive distance based on the working direction on the predetermined work route, and sets the collision prevention sensitive area on the grid map. Record. As shown in FIG. 3, in this embodiment, a rectangular collision prevention sensitive area preferably having a length and a width of 2 m is set, and the coordinate unit is set to m. In the coordinate system corresponding to the grid map, it may be a local grid coordinate system or a global coordinate system after transformation, and the coordinates of the current position A3 of the robot are (x0, y0). , the length and width of the collision prevention sensitive area are both 2 m, and the working direction is the extension direction with respect to the starting point of one node at the boundary of the collision prevention sensitive area, and this embodiment is in the direction of arrow P1 in FIG. is the working direction, and therefore, the four boundary lines forming the anti-collision sensitive area 23 in FIG. Intersect at y0). The robot starts from position A3 (x0, y0) and performs the cleaning work along the "bow" shaped path shown in the figure, and does not process the platform avoidance signal received within the collision prevention sensitive area 23 , After moving to the position A2 (x0+2, y0) according to the "bow"-shaped path shown, beyond the anti-collision sensitive area 23 , the robot can move to the position A0 in Example 1, and according to the method of Example 1 The first preset position, the second preset position, and the third preset position are marked as the danger sign positions, these sign positions and the robot's current position A2 are matched with the collision prevention relationship, and the robot Used to restrict the continuation of cleaning work in the working direction of the work path.

Example 4: Based on Example 3, the robot moves to position A5 along a pre-planned "bow"-shaped path extending in the negative direction of the X-axis, and at position A5, a charging stand is placed directly in front of it. 5 has already detected the presence of the platform avoidance signal transmitted from the robot, and marks a first preset position A6, which is separated from the current position of the robot by the radial distance of the robot's body, as the danger sign position; A second preset position and a third preset position that pass through one preset position A6 and are adjacent to the first preset position A6 in a direction perpendicular to the current movement direction of the robot (corresponding to the direction in which A5 points to A6 in FIG. 4). The preset position is marked as the danger sign position as corresponding to the two black grid areas adjacent to position A6. At this time, since the transmission direction of the platform avoidance signal received by the robot is the same as the working direction of the robot on the predetermined working route, the safe area cannot be established at position A5.

As shown in FIG. 4, before establishing the next safe area, the robot detects that the platform avoidance signal transmitted from the charging platform 6 is present on the right side in its movement direction at position A5; It does not exclude the platform avoidance signal sent from charging stations at other positions in the current work area, and its signal strength is sufficient to be received by the right receiving sensor of the robot at position A5. Next, from the current position A5 of the robot, the robot A position B2 separated by the body diameter of is selected and marked as the danger sign position, and the danger sign position B2 and the current position A5 of the robot are made to match the collision prevention relationship. The collision prevention relationship is used to prevent the robot from colliding with the charging stand 6 by restricting the robot from working in the negative direction of the X-axis along the bow-shaped path.

As shown in FIG. 4, before establishing the next safe area, the robot detects that the platform avoidance signal transmitted from the charging platform 4 is present on the left side in the direction of movement at position A5; It does not exclude the platform avoidance signal sent from charging stations at other positions in the current work area, and its signal strength is sufficient to be received by the left receiving sensor of the robot at position A5. Next, from the current position A5 of the robot, the robot A position C2 that is separated by the body diameter of is selected and marked as the danger sign position, and the danger sign position C2 and the robot's current position A5 match the collision prevention relationship, so that the robot follows the "bow" shaped path. This is used to prevent collision with the charging stand 4 by restricting work in the negative direction of the X-axis along the charging stand 4.

As shown in FIG. 4, the danger sign positions B2, A6, C2 and the two black grid areas adjacent to the position A6 have all been marked and mapped on the grid map, and are then mapped to an arc in the negative direction of the X-axis in FIG. As shown by the broken lines, these marker positions are connected to synchronize the dangerous area on the grid map and form a boundary line that separates the charging stand 4, charging stand 5, and charging stand 6 from the robot. Next, the robot stops moving forward, moves backward a predetermined safe distance along the direction opposite to the current direction of movement (corresponding to the direction indicated by arrow P1 in FIG. 4) to position A3, and then rotates in place. Orient the sensor directly in front of it in the positive Y-axis direction, then establish the anti-collision sensitive area 23 according to the method of Example 3, and then move the anti-collision sensitive area 23 along the “bow”-shaped path planned in Example 3. Move to areas 2 and 3 and perform cleaning work. The robot starts from position A3 (x0, y0) and performs the cleaning work along the "bow" shaped path shown in the figure, and does not process the platform avoidance signal received within the collision prevention sensitive area 23 , After moving to the position A2 (x0+2, y0) according to the "bow"-shaped path shown, beyond the anti-collision sensitive area 23 , the robot can move to the position A0 in Example 1, and according to the method of Example 1 The first preset position, the second preset position, and the third preset position are marked as the danger sign positions, these sign positions and the robot's current position A2 are matched with the collision prevention relationship, and the robot Used to restrict the continuation of cleaning work in the working direction of the work path. At the same time, danger sign positions B1, A1, and C1 were marked according to the method of Example 2 and mapped on a grid map, and then these sign positions were connected as shown by the arc-shaped broken line in the positive direction of the X-axis in FIG. By synchronously establishing the dangerous area on the grid map, a boundary line surrounding the charging stand and isolating charging stand 1, charging stand 2, and charging stand 3 from the robot is formed, and furthermore, the X-axis of FIG. The position of the charging station on the grid map can be predicted by taking into consideration the arcuate broken line in the negative direction. Here, the grid map is established by marking position information in real time while the robot moves in the current work area. In the process of the robot moving in the current work area, it first avoids these enclosed semi-enclosed dangerous areas, thereby reducing the risk of the machine colliding with the platform. Furthermore, when the robot enters a dangerous area, the robot may repeatedly move in and out between the platform avoidance signal coverage range and the return charging guidance signal coverage range, which may reduce the work efficiency of the robot. prevent. In addition, in this embodiment, the next safety area can be re-established by simply crossing the collision prevention sensitive area by deleting the history information of the currently established safety area, and the safety area is established. It is necessary to identify the dangerous area beforehand, to more effectively avoid the risk of the robot colliding with the platform. It is not affected by the platform avoidance signal.

In one embodiment, before establishing the next safe area, the robot moves along a pre-planned "bow" path to a predetermined working position, and the robot moves to its predetermined working position. If it has already been detected that the platform avoidance signal exists on the right side of the movement direction, and at the same time it also detects that the platform avoidance signal exists on the left side of the movement direction, the robot moves directly in front of the movement direction. , it can be determined that there is a platform avoidance signal transmitted from the charging platform, and according to the method of the embodiment, the first preset position and its adjacent second and third preset positions are respectively set to the danger sign. marking as a position, whereby the first preset position and its adjacent second and third preset positions are all in a position distribution relationship with the current position of the robot, forming the collision prevention relationship. and prevent the robot from colliding with the charging stand. The robot then stops moving forward, retreats a predetermined safe distance along the opposite direction of its current movement direction, and then rotates in place to complete the cleaning task along a pre-planned "bow" path. Continuing (different from the original planned "bow" path, new areas may be covered and cleaned) and at the same time establishing the next said safe area according to the method of said example.

In the embodiment, after initially establishing the dangerous area on the grid map, the robot moves to the non-safe area within the current work area. When the platform avoidance signal is detected, it is determined whether the duration of the platform avoidance signal has reached a predetermined response time, and if so, the marking method for the danger sign position of the embodiment is repeated and the next step is performed. A dangerous area is established, and if the dangerous area has not been reached, the dangerous area is established without responding to the currently detected platform avoidance signal. The charging station is surrounded by mapping the danger sign positions on a grid map and further connecting these sign positions to synchronize the dangerous area on the grid map. In the process of the robot moving in the current work area, it first avoids these enclosed dangerous areas, thereby reducing the risk of the machine colliding with the platform. Furthermore, when the robot enters a dangerous area, the possibility of reducing the work efficiency of the robot due to repeated entry and exit between the platform avoidance signal coverage range and the return charging guide signal coverage area is prevented. Here, the default response time is on the millisecond level. The accuracy of the sign is improved, thereby improving the positioning accuracy of the charging stand.

In the embodiment, the predetermined angle for determining the position of the danger sign is set between 30 and 60 degrees. Based on the features in the assembly of the anti-collision sensor of the robot, the coverage level of the marking area of the dangerous area is improved.

Finally, it should be explained that the above embodiments are only for explaining the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to each preferred embodiment, those skilled in the art will still be able to modify the specific embodiments of the present invention, or replace some technical features thereof with equivalents. It is to be understood that such modifications or substitutions are within the scope of the claims provided they do not depart from the spirit.

Claims (10)

This is a step in which the robot detects in real time the reception status of a platform avoidance signal within its reception signal coverage range while the robot is moving in the current work area, and the platform avoidance signal is from a charging stand dedicated to charging the robot. The first step is
a second step of establishing a safety area within the current work area based on the platform avoidance signal received by the robot and the directional characteristic relationship of the predetermined work path of the robot;
including;
Before establishing the safe area, based on the azimuth relationship between the platform avoidance signal received by the robot and the direction of the robot's current movement path, the position that satisfies the collision prevention relationship with the robot's current position is marked and designated as the dangerous area. to avoid the charging stand while the robot moves in the current work area .
establishing a safety area within the current work area based on the angle by which the received platform avoidance signal deviates from the robot's current movement direction and the work direction in which the robot's pre-planned work path extends with respect to the initial point; A method for preventing a robot from colliding with a charging stand, characterized by: If, before establishing the safety area, the robot detects that the platform avoidance signal is present directly in front of it, the robot body radial distance from the robot's current position in the robot's current movement direction. marking a distant first preset position as a danger sign position;
At the same time, in a direction perpendicular to the current movement direction of the robot, a second preset position and a third preset position adjacent to the first preset position are marked as the danger sign positions, and the first preset position and the first preset position are marked as the danger sign positions. A second preset position and a third preset position adjacent to the position are both matched to the collision prevention relationship with the current position of the robot,
The robot is then controlled to stop moving forward, move backward by a predetermined safe distance in a direction opposite to the current direction of movement, and then rotate on the spot to continue moving along the historical path. A method for preventing a robot from colliding with a charging stand according to claim 1. In the second step, the robot detects that the platform avoidance signal exists only on the left side of the robot's movement direction, and the predetermined work path extends to the right side of the robot's current movement path direction. If it is detected that the current moving path of the robot is located, a straight line on which the robot is currently moving or a center line of the robot's body is determined as the boundary line, and an area to the right of the boundary line is set as the safe area. A method for preventing a robot from colliding with a charging stand according to claim 2 . In the second step, the robot detects that the platform avoidance signal exists only on the right side of the robot's movement direction, and the predetermined work path extends to the left side of the robot's current movement path direction. If it is detected that the current movement path of the robot is located, a straight line on which the robot is currently moving or a center line of the robot's body is determined as the boundary line, and an area to the left of the boundary line is set as the safe area. A method for preventing a robot from colliding with a charging stand according to claim 2 . Before setting the safety area, if the robot detects that the platform avoidance signal exists only on the left side of its movement direction, the robot moves the robot in the direction of deflecting at a predetermined angle to the left with respect to the current movement direction. selecting a position separated by the diameter of the robot's body from the robot's current position and marking it as a danger sign position, and matching the sign position and the robot's current position with the collision prevention relationship;
The robot is then controlled to stop moving forward, move backward a predetermined safe distance in a direction opposite to the current direction of movement, and then rotate on the spot to move in a direction opposite to the predetermined work path. 4. A method for preventing a robot from colliding with a charging stand according to claim 3 . Before setting the safety area, if the robot detects that the platform avoidance signal exists only on the right side of the robot's movement direction, the robot moves the robot in the direction of deflecting at a predetermined angle to the right with respect to the current movement direction. selecting a position separated by the diameter of the robot's body from the robot's current position and marking it as a danger sign position, and matching the sign position and the robot's current position with the collision prevention relationship;
The robot is then controlled to stop moving forward, move backward a predetermined safe distance in a direction opposite to the current direction of movement, and then rotate on the spot to move in a direction opposite to the predetermined work path. 5. A method for preventing a robot from colliding with a charging stand according to claim 4 . The safety area establishes a collision prevention sensitive area whose length and width are both a predetermined sensitive distance based on the working direction of the predetermined work path, with the current position of the robot as a starting point, and the predetermined sensitive distance is The working direction is an extension direction with respect to a starting point of a node that is less than or equal to the distance covered by the platform avoidance signal and is on the boundary of the collision prevention sensitive area;
If the robot crosses the current anti-collision sensitive area along the predetermined work path, delete the currently established safety area and then repeat the second step starting from the real-time position of the robot. and establish the next safe area by marking a danger sign position at the robot's current position and a position that satisfies the collision prevention relationship before establishing the next safe area. A method for preventing a robot from colliding with a charging stand according to claim 5 or 6 . mapping the danger sign positions on a grid map, further connecting these sign positions to synchronize the dangerous area on the grid map;
The method of claim 7, wherein the grid map is established by marking position information in real time while the robot moves in the current work area. The method of claim 8, wherein the predetermined angle is between 30 and 60 degrees. After initially establishing the dangerous area on the grid map, if the robot moves to the non-safe area within the current work area and detects the platform avoidance signal, the duration of the platform avoidance signal is It is determined whether or not the predetermined response time has been reached, and if the predetermined response time has been reached, the second step is repeated to establish the next dangerous area; if the predetermined response time has not been reached, the vehicle avoids the vehicle without responding to the currently detected platform avoidance signal. further comprising the step of establishing a hazardous area;
The method of claim 8, wherein the predetermined response time is on the millisecond level.

Images